(define (problem make_one_coffee)
    (:domain neuhelium_coffee)
    (:objects
        anywhere - location
        neuhelium_cabin - location
        jakazu3 - robotic_arm
        peanut - delivery_robot
        neuhelium_coffee_machine - coffee_machine

        coffee_order_1 - coffee_order
        service_table_1 - location
        coffee_1 - coffee
        coffee_2 - coffee

        )

    (:init
        (device_available peanut jakazu3)
        (arm_empty jakazu3)
        (at_location peanut anywhere)
        (payload_empty peanut)
        (cabin_unvisited peanut neuhelium_cabin)
        (coffee_notready coffee_order_1 coffee_1)
        (coffee_notready coffee_order_1 coffee_2)
    )

    (:goal
        (and
            (order_obtained coffee_order_1)
            (cabin_visited peanut neuhelium_cabin)
            (coffee_ready coffee_order_1 neuhelium_coffee_machine coffee_1)
            (coffee_obtained peanut neuhelium_cabin coffee_1)
            (coffee_ready coffee_order_1 neuhelium_coffee_machine coffee_2)
            (coffee_obtained peanut neuhelium_cabin coffee_2)
            (coffee_served peanut coffee_order_1 service_table_1)
        )
    )
)